Decentralized Platoon Join-in-Middle Protocol Considering Communication Delay for Connected and Automated Vehicle

Area of Science:

• Intelligent Transport Systems (ITS)
• Connected and Automated Vehicles (CAVs)
• Vehicle Platooning

Background:

• Cooperative driving enhances safety and efficiency in transportation.
• Vehicle platooning, a key ITS service, relies on Cooperative Adaptive Cruise Control (CACC) and platoon management systems.
• Vehicle-to-vehicle (V2V) communication is crucial for CACC and platoon maneuvers.

Purpose of the Study:

• To propose a novel CACC system with variable time headway.
• To introduce a decentralized protocol for platoon join-in-middle maneuvers in CAVs.
• To address challenges in precise management and lateral control for platoon safety and string stability, considering V2V communication delays.

Main Methods:

• Development of a CACC system with variable time headway.
• Design of a decentralized join-in-middle maneuver protocol with trajectory planning.
• Simulation and validation using the PreScan connected and automated vehicle system simulator.

Main Results:

• The proposed CACC system and join-in-middle protocol were successfully implemented and validated in a realistic simulation environment.
• The approach effectively considers V2V communication delays for reliable platoon maneuvers.
• Demonstrated potential for enhanced safety and efficiency in cooperative driving scenarios.

Conclusions:

• The developed CACC system and decentralized protocol offer a robust solution for CAV platooning.
• The study addresses critical aspects of platoon management, including safety and string stability under communication delays.
• Validated approach paves the way for safer and more efficient intelligent transport systems.